\section{Conclusion}


In this work we presented .. which is easy to adapt to many existing localisation systems.
combining different filter shemes using an IMMPF  

enables us to combine beliebie transition models.

Looking at the results  / experiments 
we were able to satisfy the need of diversity and focues to reduce the recover from sample impoverishment in context of indoor localization. 


The benefits of our approach demonstrated

This further 

future work completely different localisation approaches, not only transitions. 
more then 2 filters
a more advanced wi-fi quality factor
incorporating a smoothing filter as mode, so we are able to draw new particles from a smoothed particle set. ..